def bounce(self, shape_ball, shape):
strike = LineString([self.ball_origin, shape_ball.center])
# going down
if self.ball.speed[1] > 0:
top = LineString([shape.topleft, shape.topright])
if strike.crosses(top):
self.ball.onYBounce()
return True
# going up
else:
bottom = LineString([shape.bottomleft, shape.bottomright])
if strike.crosses(bottom):
self.ball.onYBounce()
return True
# going right
if self.ball.speed[0] > 0:
left = LineString([shape.topleft, shape.bottomleft])
if strike.crosses(left):
self.ball.onXBounce()
return True
# going left
else:
right = LineString([shape.topright, shape.bottomright])
if strike.crosses(right):
self.ball.onXBounce()
return True
return False
def can_connect_fast(polygons, tree_poly, p1, p2):
"""
Faster implementation of can_connect() method using random sampling of points on the line between p1 and p2 and KDTree to query for polygons that are close to the points
Args:
polygons (tuple): containing (polygon, height) for all obstacles
tree_poly (KDTree): indexed using ploygon vertices
p1 (tuple): containing north, east coordinate of first point
p2 (tuple): containing north, east coordinate of first point
Returns:
(bool): True of p1 and p2 can be connected. False otherwise.
"""
# Find closest poly for p1 and p2 and check if line
# intersects with one of them
l = LineString([p1, p2])
# Find closeset polygon to the points
idx = tree_poly.query([np.array(p1)], k=1, return_distance=False)[0]
poly1 = polygons[idx[0]][0]
if l.crosses(poly1):
return False
# Sample points on the line
# for i in [0.25, 0.5, 0.75]:
for i in np.arange(0.1, 0.9, 0.1):
p = l.interpolate(i, normalized=True)
# print(p)
idx = tree_poly.query([np.array(p)], k=1, return_distance=False)[0]
poly2 = polygons[idx[0]][0]
# If line crosses the any polygon, we cannot connect
if l.crosses(poly2):
return False
return True
def reachable_vertices_by_state(current_state, goal_state, closed_set):
reachable_vertices = []
# print("Check reachable nodes from the current node: " + str(current_state))
for polygon in polygons:
for vertex in polygon.exterior.coords:
# if we have it, move on
if vertex in reachable_vertices:
continue
# ignore closed nodes
if vertex in closed_set:
continue
# let's not test ourselves
if current_state == vertex:
test_line_valid = False
# print("Don't need to test the current state...")
continue
else:
test_line_valid = True
test_line = LineString((current_state, vertex))
# print("Testing if " + str(vertex) + " is reachable...")
obstacle_names = ['A', 'B', 'C', 'D', 'E', 'F', 'G', 'H']
i = 0
for obstacle in polygons:
if test_line.crosses(obstacle):
# print("Obstacle '" + obstacle_names[i] + "' is in the way of point " + str(vertex))
test_line_valid = False
break
if test_line.within(obstacle):
# print("Skip non-adjacent vertices on the same obstacle '" + obstacle_names[i] + "' :" + str(vertex))
test_line_valid = False
break
i += 1
if test_line_valid:
# print(str(test_line) + " is reachable!")
reachable_vertices.append(vertex)
# Test for goal state
line_to_goal = LineString((current_state, goal_state))
line_to_goal_blocked = False
for obstacle in polygons:
if line_to_goal.crosses(obstacle) or line_to_goal.within(obstacle):
line_to_goal_blocked = True
break
if not line_to_goal_blocked:
reachable_vertices.append(goal_state)
return reachable_vertices
def can_connect(self, p1, p2): line = LineString([p1, p2]) for p in self.polygons: if line.crosses(p[0]) and p[1] >= min(p1[2], p2[2]): return False else: return True
def find_valid_edges(vertexes, edges, env, polygons):
valid_edges = []
for i, p1 in enumerate(vertexes):
print i
for p2 in [x for x in vertexes if not x == p1]:
add = True
line2 = LineString([p1, p2])
if env.crosses(line2):
continue
xx, yy = line2.xy
# Midpoint will lie within a shape if the line is composed of two vertices of the polygon
m = Point(sum(xx)/2., sum(yy)/2.)
if [x for x in polygons if m.within(x)]:
continue # skip this edge if it is within a polygon
for edge in edges:
line1 = LineString(edge)
if add and not line1 == line2 and line1.crosses(line2):
add = False
break
if add:
valid_edges.append([p1, p2])
return valid_edges
def isAllVisible(p: Point, poly: Polygon):
vtx = list(poly.exterior.coords)
for p1 in range(len(vtx)):
line_center = LineString([p, vtx[p1]])
if line_center.crosses(poly):
return False
return True
def get_children(parent, constraint, polys=[], vlist=[]):
# get kids of nodeState
# if parent.children is empty
if not parent.children:
# cycle through vertex list(vList)
for x in vlist:
# create line from parent to vertex
testLine = LineString([(parent.location.x, parent.location.y), (x.x, x.y)])
notChild = False
# if x is parent location
if x.x == parent.location.x and x.y == parent.location.y or testLine.length > constraint:
notChild = True
else:
# cycle through polygon list(poly)
for y in polys:
# if testline crosses a polygon
if testLine.crosses(y):
notChild = True
# if testline is within a polygon
elif testLine.within(y):
notChild = True
# if notchild is false
if not notChild:
# new node and append to parent
new = nodeState(x, parent)
parent.children.append(new)
def center_permanency(row, polygon=center_polygon):
"""
Computes the percentage of a trajectory's stay in Atlanta's center.
Having an entry-to-exit trajectory with length n, its center permanency represents
the percentage of n that happens inside Atlanta's center polygon, in a [0,1] interval.
Trajectories starting and ending within the center will then have permanency equal to 1,
as those that start and end out of the center have it equal to 0.
Parameters
----------
row : pandas.Series
Row onto which the center permanency will be based.
Returns
-------
float
The entry-to-exit trajectory center permanency as a percentage.
"""
if any(np.isnan(row[col]) for col in ['x_exit', 'y_exit']):
return np.nan
line = LineString([(row['x_entry'], row['y_entry']),
(row['x_exit'], row['y_exit'])])
crossed = line.crosses(polygon)
if not line.intersects(polygon):
return 0
if line.length == 0:
# Avoids divisions by 0 in 'point' trajectories
return 1
return line.intersection(polygon).length / line.length
def SpatialToplogy (Spatial_A,Spatial_B):
if Spatial_A[4] == 'Point' and Spatial_B[4]== 'Point':
Point_0=Point(Spatial_A[0],Spatial_A[1])
Point_1=Point(Spatial_B[0],Spatial_B[1])
#Point to point relationships
if Point_0.equals(Point_1): return 'Point1 equals Point2'
if Point_0.within(Point_1.buffer(2)): return 'Point1 lies within a buffer of 2 m from Point2'
if Point_0.overlaps(Point_1): return 'Point1 overlaps Point2'
#if Point_0.disjoint(Point_1): return 'Point1 disjoint Point2'
#Point to line relationships
if Spatial_A[4] == 'Point' and Spatial_B[4]== 'Line':
Point_0=Point(Spatial_A[0],Spatial_A[1])
Line_0=LineString([(Spatial_B[0],Spatial_B[1]),(Spatial_B[2],Spatial_B[3])])
if Point_0.touches(Line_0):return 'Point1 touches Line1'
if Point_0.within(Line_0.buffer(2)):return 'Point1 lies within a buffer of 2 m from L1'
#Point to polygon relationships
if Spatial_A[4] == 'Point' and Spatial_B[4]== 'Polygon':
Point_0=Point(Spatial_A[0],Spatial_A[1])
Polygon_0=Polygon([(Spatial_B[0],Spatial_B[1]),(Spatial_B[2],Spatial_B[1]),(Spatial_B[2],Spatial_B[3]),(Spatial_B[0],Spatial_B[3])])
if Point_0.touches(Polygon_0):return 'Point1 touches Polygon1'
if Point_0.within(Polygon_0):return'Point1 lies within Polygon1'
if Point_0.overlaps(Polygon_0):return 'Point1 lies overlaps Polygon1'
#Line to line relationships
if Spatial_A[4]=='Line' and Spatial_B[4]=='Line':
Line_0=LineString([(Spatial_A[0],Spatial_A[1]),(Spatial_A[2],Spatial_A[3])])
Line_1=LineString([(Spatial_B[0],Spatial_B[1]),(Spatial_B[2],Spatial_B[3])])
if Line_0.equals(Line_1):return 'Line0 equals Line1'
if Line_0.touches(Line_1):return 'Line0 touches Line1'
if Line_0.crosses(Line_1):return 'Line0 crosses Line1'
if Line_0.within(Line_1.buffer(2)):return 'Line0 lies within a buffer of 2 m Line1'
if Line_0.overlaps(Line_1):return 'Line0 overlaps Line1'
#Line to polygon relationships
if Spatial_A[4]=='Line' and Spatial_B[4]=='Polygon':
Line_0=LineString([(Spatial_A[0],Spatial_A[1]),(Spatial_A[2],Spatial_A[3])])
Polygon_0=Polygon([(Spatial_B[0],Spatial_B[1]),(Spatial_B[2],Spatial_B[1]),(Spatial_B[2],Spatial_B[3]),(Spatial_B[0],Spatial_B[3])])
if Line_0.touches(Polygon_0):return 'Line0 touches Polygon1'
if Line_0.crosses(Polygon_0):return 'Line0 crosses Polygon1'
if Line_0.within(Polygon_0):return 'Line0 lies within Polygon1'
#Polygon to Polygon relationships
if Spatial_A[4]=='Polygon' and Spatial_B[4]=='Polygon':
Polygon_0=Polygon([(Spatial_A[0],Spatial_A[1]),(Spatial_A[2],Spatial_A[1]),(Spatial_A[2],Spatial_A[3]),(Spatial_A[0],Spatial_A[3])])
Polygon_1=Polygon([(Spatial_B[0],Spatial_B[1]),(Spatial_B[2],Spatial_B[1]),(Spatial_B[2],Spatial_B[3]),(Spatial_B[0],Spatial_B[3])])
if Polygon_0.touches(Polygon_1):return 'Polygon touches Polygon1'
if Polygon_0.equals(Polygon_1):return 'Polygon0 equals Polygon1'
if Polygon_0.within(Polygon_1):return 'Polygon lies within Polygon1'
if Polygon_0.within(Polygon_1.buffer(2)):return 'Polygon lies within a buffer of 2m Polygon1'
def __call__(self):
results = []
Line = LineString(self.in_path)
for obs in self.in_obs:
if Line.crosses(obs):
results.append(self.in_path)
break
return results
def crosses(shape, coord1, coord2):
polygon = Polygon(shape)
line = LineString([coord1, coord2])
if line.intersects(polygon):
if line.touches(polygon):
return False
elif line.crosses(polygon):
return True
def crossed_city(row):
if any(np.isnan(row[col]) for col in ['x_exit', 'y_exit']):
return np.nan
line = LineString([(row['x_entry'], row['y_entry']),
(row['x_exit'], row['y_exit'])])
crossed = 1 if line.crosses(center_polygon) is True else 0
return crossed
def _crosses_antimeridian(region: Polygon) -> bool:
"""
Determine if the given region crosses the Antimeridian line, by converting
the given Polygon from -180;180 to 0;360 and checking if the antimeridian
line crosses it.
This only works with Polygons without holes
:param region: Polygon to test
"""
# Retrieving the points of the Polygon are a bit troublesome, parsing WKT
# is more straightforward and probably faster
new_wkt = 'POLYGON (('
# TODO (forman): @JanisGailis this is probably the most inefficient antimeridian-crossing-test I've ever seen :D
# What is the problem in using the exterior longitude coordinates?
# Please note:
# - WKT parsing and formatting is actually NEVER faster than direct coordinate access (C-impl.!)
# - The polygon's interior can be neglected, only the exterior is required for the test
# - Area computations as used here are probably expensive.
# - An accurate and really fast test takes the orientation into account (polygon.is_ccw)
# and detects intersections of each segement with the antimeridian line.
# [10:-2] gets rid of POLYGON (( and ))
for point in dumps(region)[10:-2].split(','):
point = point.strip()
lon, lat = point.split(' ')
lon = float(lon)
if -180 <= lon < 0:
lon += 360
new_wkt += '{} {}, '.format(lon, lat)
new_wkt = new_wkt[:-2] + '))'
converted = loads(new_wkt)
# There's a problem at this point. Any polygon crossed by the zeroth
# meridian can in principle convert to an inverted polygon that is crossed
# by the antimeridian.
if not converted.is_valid:
# The polygon 'became' invalid upon conversion => probably the original
# polygon is what we want
return False
test_line = LineString([(180, -90), (180, 90)])
if test_line.crosses(converted):
# The converted polygon seems to be valid and crossed by the
# antimeridian. At this point there's no 'perfect' way how to tell if
# we wanted the converted polygon or the original one.
# A simple heuristic is to check for size. The smaller one is quite
# likely the desired one
if converted.area < region.area:
return True
else:
return False
def can_connect(p1, p2, polygons):
"""
Given two points p1 and p2, checks whether a line between them does not cross a polygon
"""
line = LineString([p1, p2])
connect = True
for (p, h) in polygons:
if line.crosses(p) and min(p1[2], p2[2]) <= h:
connect = False
break
return connect
def update_links(self, node_list, obstruction_list):
for node in node_list:
if not self.co_ords == node.co_ords:
line_attempt = LineString([self.co_ords, node.co_ords])
success = True
for obstruction in obstruction_list:
if line_attempt.crosses(obstruction.polygon):
success = False
break
if success == True:
self.links.append(node.id)
def cell_decomp(self, obstruction_list):
"""Performs trapezoidal cell decomposition for individual block"""
self.block_nodes = []
self.obstrucion_list = obstruction_list
# self.bbox = box(self.polygon.bounds)
for i in self.polygon.exterior.coords:
new_line = LineString([i, (i[0], 0)])
if new_line.crosses(self.polygon):
new_line = LineString(i, (i.x, 300))
for j in obstruction_list:
if new_line.crosses(j.polygon):
new_line = LineString(
[i, (new_line.intersection(j.polygon.boundary))[0]])
node_coords = new_line.interpolate(0.5,
normalized=True).coords[:][0]
# print ("node created at " + str(node_coords))
self.block_nodes.append(node_coords)
# print ("block nodes created:- " + str(self.block_nodes))
return self.block_nodes
def _crosses_antimeridian(region: Polygon) -> bool:
"""
Determine if the given region crosses the Antimeridian line, by converting
the given Polygon from -180;180 to 0;360 and checking if the antimeridian
line crosses it.
This only works with Polygons without holes
:param region: Polygon to test
"""
# Convert region to only have positive longitudes.
# This way we can perform a simple antimeridian check
old_exterior = region.exterior.coords
new_exterior = []
for point in old_exterior:
lon, lat = point[0], point[1]
if -180. <= lon < 0.:
lon += 360.
new_exterior.append((lon, lat))
converted_region = Polygon(new_exterior)
# There's a problem at this point. Any polygon crossed by the zero-th
# meridian can in principle convert to an inverted polygon that is crossed
# by the antimeridian.
if not converted_region.is_valid:
# The polygon 'became' invalid upon conversion => probably the original
# polygon is what we want
# noinspection PyBroadException
try:
# First try cleaning up geometry that is invalid
converted_region = converted_region.buffer(0)
except BaseException:
pass
if not converted_region.is_valid:
return False
test_line = LineString([(180, -90), (180, 90)])
if test_line.crosses(converted_region):
# The converted polygon seems to be valid and crossed by the
# antimeridian. At this point there's no 'perfect' way how to tell if
# we wanted the converted polygon or the original one.
# A simple heuristic is to check for size. The smaller one is quite
# likely the desired one
if converted_region.area < region.area:
return True
else:
return False
else:
return False
def _crosses_antimeridian(region: Polygon) -> bool:
"""
Determine if the given region crosses the Antimeridian line, by converting
the given Polygon from -180;180 to 0;360 and checking if the antimeridian
line crosses it.
This only works with Polygons without holes
:param region: Polygon to test
"""
# Convert region to only have positive longitudes.
# This way we can perform a simple antimeridian check
old_exterior = region.exterior.coords
new_exterior = []
for point in old_exterior:
lon, lat = point[0], point[1]
if -180. <= lon < 0.:
lon += 360.
new_exterior.append((lon, lat))
converted_region = Polygon(new_exterior)
# There's a problem at this point. Any polygon crossed by the zero-th
# meridian can in principle convert to an inverted polygon that is crossed
# by the antimeridian.
if not converted_region.is_valid:
# The polygon 'became' invalid upon conversion => probably the original
# polygon is what we want
# noinspection PyBroadException
try:
# First try cleaning up geometry that is invalid
converted_region = converted_region.buffer(0)
except BaseException:
pass
if not converted_region.is_valid:
return False
test_line = LineString([(180, -90), (180, 90)])
if test_line.crosses(converted_region):
# The converted polygon seems to be valid and crossed by the
# antimeridian. At this point there's no 'perfect' way how to tell if
# we wanted the converted polygon or the original one.
# A simple heuristic is to check for size. The smaller one is quite
# likely the desired one
if converted_region.area < region.area:
return True
else:
return False
else:
return False
def LOS(n1, n2, obstacles):
p1 = (n1.x, n1.y)
p2 = (n2.x, n2.y)
line = LineString([p1, p2])
obstructed = False
for obstacle in obstacles:
shape = obstacle['polygon']
if line.crosses(shape) or shape.contains(line):
obstructed = True
break
return not obstructed
def can_connect(self, p1, p2):
#line = LineString(p1, p2)
line = LineString([p1, p2])
h = self.TARGET_ALTITUDE
if len(p1) == 3:
h = min(p1[2], p2[2])
for p in self.polygons:
if line.crosses(p[0]) and p[1] >= h:
return False
else:
return True
class Edge:
def __init__(self, start, end, figure=None):
self.start, self.end = start, end
self.line = LineString([start, end])
self.figure = figure
def intersects_with(self, other_line: tuple):
if self.figure and all(
p in self.figure
for p in other_line) and self.figure.crosses(other_line):
return True
return self.line.crosses(LineString(other_line))
def checkLineIntersection(Ax1y1: list, Ax2y2: list, Bx1y1: list, Bx2y2: list,
canTouch: bool) -> list:
line1 = LineString([Ax1y1, Ax2y2])
line2 = LineString([Bx1y1, Bx2y2])
intersect = line1.intersection(line2)
if intersect.is_empty or not line1.crosses(line2):
if not canTouch:
return False, [0, 0]
try:
return True, [intersect.x, intersect.y]
except:
return False, [0, 0]
def _crosses_antimeridian(region: PolygonLike.TYPE) -> bool:
"""
Determine if the given region crosses the Antimeridian line, by converting
the given Polygon from -180;180 to 0;360 and checking if the antimeridian
line crosses it.
This only works with Polygons without holes
:param region: PolygonLike to test
"""
region = PolygonLike.convert(region)
# Retrieving the points of the Polygon are a bit troublesome, parsing WKT
# is more straightforward and probably faster
new_wkt = 'POLYGON (('
# [10:-2] gets rid of POLYGON (( and ))
for point in dumps(region)[10:-2].split(','):
point = point.strip()
lon, lat = point.split(' ')
lon = float(lon)
if -180 <= lon < 0:
lon += 360
new_wkt += '{} {}, '.format(lon, lat)
new_wkt = new_wkt[:-2] + '))'
converted = loads(new_wkt)
# There's a problem at this point. Any polygon crossed by the zeroth
# meridian can in principle convert to an inverted polygon that is crossed
# by the antimeridian.
if not converted.is_valid:
# The polygon 'became' invalid upon conversion => probably the original
# polygon is what we want
return False
test_line = LineString([(180, -90), (180, 90)])
if test_line.crosses(converted):
# The converted polygon seems to be valid and crossed by the
# antimeridian. At this point there's no 'perfect' way how to tell if
# we wanted the converted polygon or the original one.
# A simple heuristic is to check for size. The smaller one is quite
# likely the desired one
if converted.area < region.area:
return True
else:
return False
def check_crossings_in_surrounding(self, surrounding_boundary_edges, old_coords, new_coords, third_coords):
crossing_found = False
for edge in surrounding_boundary_edges:
segment1 = LineString([self.vertices[edge[0]], self.vertices[edge[1]]])
# We have to check all crossings between the edge and the triangle [old, new, third]
# first check
segment2 = LineString([old_coords, new_coords])
if segment1.crosses(segment2):
crossing_found = True
# print("Break - checkCrossings_in_surrounding 1")
break
# second check
segment2 = LineString([old_coords, third_coords])
if segment1.crosses(segment2):
crossing_found = True
# print("Break - checkCrossings_in_surrounding 2")
break
# third check
segment2 = LineString([new_coords, third_coords])
if segment1.crosses(segment2):
crossing_found = True
# print("Break - checkCrossings_in_surrounding 3")
break
return crossing_found
def calc_ma_crossover_points(
array1: pd.Series,
array2: pd.Series) -> Iterable[tuple]: # array indexes are returned
"""
Calculate the points (index, YYYY-mm-dd, price) where array1 and array2 cross over and return them.
Typically they represent MA20 and MA200 lines, but any two poly lines will do.
"""
assert len(array1) == len(array2)
ls1 = []
ls2 = []
for i in range(len(array1)):
v1 = array1[i]
v2 = array2[i]
if np.isnan(v1) or np.isnan(
v2
): # TODO FIXME: gaps can create false overlaps due to "straight line" intersections in error... GIGO...
continue
ls1.append((i, v1))
ls2.append((i, v2))
result = None
ls1 = LineString(ls1)
ls2 = LineString(ls2)
if ls1.crosses(ls2): # symettry: implies ls2.crosses(ls1)
result = ls1.intersection(ls2)
if result is None or result.is_empty:
return []
elif isinstance(result, Point):
nearest_idx = int(result.x)
return [(nearest_idx, array1[nearest_idx], result.y)]
else: # assume multiple points ie. MultiPoint
ret = []
# print(result)
for hit in list(result):
if isinstance(hit, Point):
nearest_idx = int(hit.x)
intersect_price = hit.y
elif isinstance(hit, LineString):
# if a hit exists over multiple consecutive days, we just report the start
coords = list(hit.coords)
nearest_idx, intersect_price = coords[0]
else:
assert False # fail for obscure corner cases
# print(array1)
ret.append(
(nearest_idx, array1.index[nearest_idx], intersect_price))
return ret
def can_connect(node1, node2, polygons):
# 2) write a method "can_connect()" that:
# casts two points as a shapely LineString() object
# tests for collision with a shapely Polygon() object
# returns True if connection is possible, False otherwise
possible = False
n1 = np.array(node1)
n2 = np.array(node2)
line = LineString([n1[:2], n2[:2]])
for poly in polygons:
possible = False
if not line.crosses(poly[0]): # and poly[1] >= min(n1[2], n2[2]):
possible = True
elif possible == False:
break
return possible
def rec_path(self, A, B, d, sens=0):
# print("d : ", d)
line = LineString((A, B))
# if d>5:
# return (A, B), d
if not self.terrain.contains(line):
return None, 0
for obs in self.obstacles:
if line.crosses(obs):
coords = (obs.union(line)).convex_hull.exterior.coords
i = list(coords).index(A)
if sens != 0:
#print("AHHHH ! : ", (i+sens)%len(list(coords)))
C = coords[(i + sens) % len(list(coords))]
# print("C1, C2 : ", C1, C2)
pts, d0 = self.rec_path(C, B, d, sens=sens)
if pts == None:
return None, 0
d += d0
else:
C1, C2 = coords[i + 1], coords[(i - 2) % len(list(coords))]
# print("C1, C2 : ", C1, C2)
pts1, d1 = self.rec_path(C1, B, d, sens=1)
pts2, d2 = self.rec_path(C2, B, d, sens=-2)
if d1 > d2 or pts1 == None:
C = C2
pts = pts2
d += d2
if pts == None:
return None, 0
else:
C = C1
pts = pts1
d += d1
d += cdist(
np.array(A).reshape(1, -1),
np.array(C).reshape(1, -1))
pts.insert(0, A)
return pts, d
d += cdist(np.array(A).reshape(1, -1), np.array(B).reshape(1, -1))
return [A, B], d
def RRT(start,goal,obstacle_list):
'''
The search space will be a rectangular space defined by
(0,0),(0,10),(10,0),(10,10)
'''
goalr = [(goal[0]-0.3,goal[1]-0.3),(goal[0]+0.3,goal[1]-0.3), (goal[0]+0.3,goal[1]+0.3), (goal[0]-0.3,goal[1]+0.3)]
Qgoal = dgoal(goalr)
obstacles = obst(obstacle_list)
cnt = 0
graph = Tree(Point(start[0],start[1]))
while cnt < 5000:
x = random.random() * 10
y = random.random() * 10
p = Point(x,y)
if IsInObstacle(obstacles, p):
continue
n = nearestNode(p, graph, 10**6)
line = LineString([n[1].data,p])
if n[0] >= 1:
p = line.interpolate(1)
x = p.x
y = p.y
line = LineString([n[1].data,p])
if line.crosses(obstacles):
continue
last = chain(n[1],p)
if IsInObstacle(Qgoal,p):
print("Found it!")
return graph.tb(last),Qgoal
cnt += 1
return graph.tb(last),Qgoal
def find_local_goal(self, path: Path, i_start=0):
crossing_lines = []
for i in range(i_start, len(path.nodes) - 1):
path_segment = LineString(path.nodes[i:i + 2])
if path_segment.crosses(self.packet_poly.exterior):
crossing_lines.append(path_segment)
if len(crossing_lines) < 1:
logging.warning("Cannot find local goal")
return
# The last crossing on the path is the closest to the final goal
last_crossing = crossing_lines[-1]
intersections = last_crossing.intersection(self.packet_poly.exterior)
# TODO - Handle multiple crossings on a line
local_goal = intersections.coords[0]
return local_goal
def check_course_geofence (self, x_utm_start, y_utm_start, az = None, dist = None, x_utm_end = None, y_utm_end = None):
'''
method to check a prospective course to see how it stacks up against
the geofence. If the start is outside the geofence, this returns true
if the course intersects into the geofence. If the start is inside the
geofence, this returns true if we don't intersect the geofence, and false
if we do cross the geofence.
x_utm_start = the starting point of the line
y_utm_start = the starting point of the line
az = the compass azimuth of where the line is going
dist = the distance of the line
x_utm_end = optionally supplied x_utm location for course line
y_utm_end = optionally supplied x_utm location for course line
returns true (yes, this course is fine), or false (not so good)
'''
# calc the end points with az and dist if end points are unsupplied
if not az is None and not dist is None:
x_utm_end = x_utm_start + (dist * sin (az * pi / 180.0))
y_utm_end = y_utm_start + (dist * cos (az * pi / 180.0))
target_line = LineString ([(x_utm_start, y_utm_start), (x_utm_end, y_utm_end)])
# check to see if the course crosses the edge of the geofence
crossing_geofence = target_line.crosses (self.geofence)
# now, see if we are going into the geofence, or out of the geofence
start_in_geofence = self.check_geofence (x_utm_start, y_utm_start)
# check the combinations
if start_in_geofence:
if crossing_geofence:
good_course = False # looks bad, crossing geofence
else:
good_course = True # looks good, not crossing geofence
else:
if crossing_geofence:
good_course = True # looks good, we are going back into the geofence
else:
good_course = False # looks bad, not going back into the geofence
return (good_course)
def createConvexPath(pair, case):
#print pair
odPointsList = ((pair[0].x, pair[0].y), (pair[1].x, pair[1].y))
st_line = LineString(odPointsList)
labeledObstaclePoly = []
totalConvexPathList = {}
if case == 'ff':
if st_line.length > fd_fullPayload * 5280:
return 0, 0, None
elif case == "fd":
if st_line.length > fd_delivery * 5280:
return 0, 0, None
dealtArcList = {}
totalConvexPathList[odPointsList] = LineString(odPointsList)
LineString
terminate = 0
idx_loop1 = 0
time_loop1 = 0
time_contain2 = 0
time_crossingDict = 0
time_convexLoop = 0
time_impedingArcs = 0
time_spatialFiltering = 0
time_loop1_crossingDict = 0
time_buildConvexHulls = 0
no_obs = False
while terminate == 0:
t1s = time.time()
idx_loop1 += 1
t6s = time.time()
totalGrpah = createGraph(totalConvexPathList.keys())
spatial_filter_n = networkx.dijkstra_path(totalGrpah, odPointsList[0],
odPointsList[1])
spatial_filter = []
for i in xrange(len(spatial_filter_n) - 1):
spatial_filter.append(
[spatial_filter_n[i], spatial_filter_n[i + 1]])
crossingDict = defaultdict(list)
for line in spatial_filter:
Line = LineString(line)
for obs in obstaclesPolygons:
if Line.crosses(obs):
if obs not in labeledObstaclePoly:
labeledObstaclePoly.append(obs)
crossingDict[tuple(line)].append(obs)
t6e = time.time()
time_spatialFiltering += t6e - t6s
if len(crossingDict.keys()) == 0:
terminate = 1
no_obs = True
continue
else:
t7s = time.time()
for tLine in crossingDict.keys():
#cLine = list(tLine)
if dealtArcList.has_key(tLine):
try:
del totalConvexPathList[tLine]
except:
del totalConvexPathList[(tLine[1], tLine[0])]
continue
else:
dealtArcList[tLine] = LineString(list(tLine))
try:
del totalConvexPathList[tLine]
except:
del totalConvexPathList[(tLine[1], tLine[0])]
containingObs = []
for obs in crossingDict[tLine]:
convexHull = createConvexhull(obs, tLine)
splitBoundary(totalConvexPathList, convexHull)
convexHull = createConvexhull(obs, odPointsList)
splitBoundary(totalConvexPathList, convexHull)
convexHull2 = createConvexhull(obs)
if convexHull2.contains(Point(tLine[0])):
containingObs.append(obs)
elif convexHull2.contains(Point(tLine[1])):
containingObs.append(obs)
if len(containingObs) != 0: #SPLIT
subConvexPathList = {}
vi_obs = MultiPolygon([x for x in containingObs])
containedLineCoords = list(tLine)
fromX = containedLineCoords[0][0]
fromY = containedLineCoords[0][1]
toX = containedLineCoords[1][0]
toY = containedLineCoords[1][1]
fxA = (fromY - toY) / (fromX - toX)
fxB = fromY - (fxA * fromX)
minX = vi_obs.bounds[0]
maxX = vi_obs.bounds[2]
split_line = LineString([
(min(minX, fromX,
toX), fxA * min(minX, fromX, toX) + fxB),
(max(maxX, fromX,
toX), fxA * max(maxX, fromX, toX) + fxB)
])
for obs in containingObs:
s1, s2 = splitPolygon(split_line, obs)
dividedObsPoly = []
#to deal with multipolygon
a = s1.intersection(obs)
b = s2.intersection(obs)
if a.type == "Polygon":
dividedObsPoly.append(a)
else:
for o in a.geoms:
if o.type == "Polygon":
dividedObsPoly.append(o)
if b.type == "Polygon":
dividedObsPoly.append(b)
else:
for o2 in b.geoms:
if o2.type == "Polygon":
dividedObsPoly.append(o2)
for obs2 in dividedObsPoly:
for pt in tLine:
convexHull = createConvexhull(obs2, [pt])
splitBoundary(subConvexPathList,
convexHull)
subVertices = []
for line in subConvexPathList:
subVertices.extend(line)
subVertices = list(set(subVertices))
containingObsVertices = []
for obs in containingObs:
containingObsVertices.extend(
list(obs.exterior.coords))
subVertices = [
x for x in subVertices
if x in containingObsVertices
]
deleteList = []
for line in subConvexPathList:
chk_cross = 0
for obs in containingObs:
if subConvexPathList[line].crosses(obs):
chk_cross = 1
if chk_cross == 1:
deleteList.append(line)
for line in deleteList:
del subConvexPathList[line]
#subConvexPathList.remove(line)
pairList = []
for i in range(len(subVertices)):
for j in range(i + 1, len(subVertices)):
pairList.append(
(subVertices[i], subVertices[j]))
for i in pairList:
Line = LineString(i)
chk_cross = 0
for obs in containingObs:
if Line.crosses(obs):
chk_cross = 1
elif Line.within(obs):
chk_cross = 1
if chk_cross == 0:
subConvexPathList[i] = Line
#subConvexPathList.append(i)
buffer_st_line = split_line.buffer(0.1)
deleteList = []
for line in subConvexPathList:
if buffer_st_line.contains(
subConvexPathList[line]):
deleteList.append(line)
for line in deleteList:
if subConvexPathList.has_key(line):
del subConvexPathList[line]
#subConvexPathList = [x for x in subConvexPathList if x not in deleteList]
for line in subConvexPathList:
if not totalConvexPathList.has_key(line):
if not totalConvexPathList.has_key(
(line[1], line[0])):
totalConvexPathList[
line] = subConvexPathList[
line] #if line not in totalConvexPathList:
t7e = time.time()
time_loop1_crossingDict += t7e - t7s
#new lines
labeled_multyPoly = MultiPolygon([x for x in labeledObstaclePoly])
convexHull = createConvexhull(labeled_multyPoly, odPointsList)
splitBoundary(totalConvexPathList, convexHull)
#new lines end
#impededPathList
t5s = time.time()
impededPathList = {}
for line in totalConvexPathList:
for obs in labeledObstaclePoly:
if totalConvexPathList[line].crosses(obs):
impededPathList[line] = totalConvexPathList[line]
break
t5e = time.time()
time_impedingArcs += t5e - t5s
for line in impededPathList:
del totalConvexPathList[line]
terminate2 = 0
idx_loop2 = 0
t1e = time.time()
time_loop1 += t1e - t1s
while terminate2 == 0:
idx_loop2 += 1
deleteList = []
crossingDict = defaultdict(list)
for line in dealtArcList:
if impededPathList.has_key(line):
del impededPathList[line]
elif impededPathList.has_key((line[1], line[0])):
del impededPathList[(line[1], line[0])]
t3s = time.time()
#pr.enable()
for line in impededPathList:
for obs in labeledObstaclePoly:
if impededPathList[line].crosses(obs):
crossingDict[line].append(obs)
t3e = time.time()
time_crossingDict += t3e - t3s
#at this point, impededArcList should be emptied, as it only contains crossing arcs, and all of them
#should be replaced by convex hulls.
for line in crossingDict:
del impededPathList[line]
for line in impededPathList:
if not totalConvexPathList.has_key(line):
totalConvexPathList[line] = impededPathList[line]
impededPathList = {}
if len(crossingDict.keys()) == 0:
terminate2 = 1
continue
else:
t4s = time.time()
for tLine in crossingDict.keys():
dealtArcList[tLine] = crossingDict[tLine]
containingObs = []
for obs in crossingDict[tLine]:
chk_contain = 0
convexHull2 = createConvexhull(obs)
if convexHull2.contains(Point(tLine[0])):
containingObs.append(obs)
chk_contain = 1
elif convexHull2.contains(Point(tLine[1])):
containingObs.append(obs)
chk_contain = 1
if chk_contain == 0:
t10s = time.time()
convexHull = createConvexhull(obs, tLine)
splitBoundary(impededPathList, convexHull)
t10e = time.time()
time_buildConvexHulls += t10e - t10s
if len(containingObs) != 0: #SPLIT
#print "SPLIT"
t2s = time.time()
subConvexPathList = {}
vi_obs = MultiPolygon([x for x in containingObs])
containedLineCoords = tLine
fromX = containedLineCoords[0][0]
fromY = containedLineCoords[0][1]
toX = containedLineCoords[1][0]
toY = containedLineCoords[1][1]
fxA = (fromY - toY) / (fromX - toX)
fxB = fromY - (fxA * fromX)
minX = vi_obs.bounds[0]
maxX = vi_obs.bounds[2]
split_line = LineString([
(min(minX, fromX,
toX), fxA * min(minX, fromX, toX) + fxB),
(max(maxX, fromX,
toX), fxA * max(maxX, fromX, toX) + fxB)
])
for obs in containingObs:
s1, s2 = splitPolygon(split_line, obs)
dividedObsPoly = []
#to deal with multipolygon
a = s1.intersection(obs)
b = s2.intersection(obs)
if a.type == "Polygon":
dividedObsPoly.append(a)
else:
for o in a.geoms:
if o.type == "Polygon":
dividedObsPoly.append(o)
if b.type == "Polygon":
dividedObsPoly.append(b)
else:
for o2 in b.geoms:
if o2.type == "Polygon":
dividedObsPoly.append(o2)
for obs2 in dividedObsPoly:
for pt in tLine:
convexHull = createConvexhull(
obs2, [pt])
splitBoundary(subConvexPathList,
convexHull)
subVertices = []
for line in subConvexPathList:
subVertices.extend(line)
subVertices = list(set(subVertices))
containingObsVertices = []
for obs in containingObs:
containingObsVertices.extend(
list(obs.exterior.coords))
subVertices = [
x for x in subVertices
if x in containingObsVertices
]
deleteList = []
for line in subConvexPathList:
chk_cross = 0
for obs in containingObs:
if subConvexPathList[line].crosses(obs):
chk_cross = 1
if chk_cross == 1:
deleteList.append(line)
for line in deleteList:
del subConvexPathList[line]
pairList = []
for i in range(len(subVertices)):
for j in range(i + 1, len(subVertices)):
pairList.append(
(subVertices[i], subVertices[j]))
for i in pairList:
Line = LineString(list(i))
chk_cross = 0
for obs in containingObs:
if Line.crosses(obs):
chk_cross = 1
elif Line.within(obs):
chk_cross = 1
if chk_cross == 0:
subConvexPathList[i] = Line
buffer_st_line = split_line.buffer(0.1)
deleteList = []
for line in subConvexPathList:
if buffer_st_line.contains(
subConvexPathList[line]):
deleteList.append(line)
for line in deleteList:
del subConvexPathList[line]
for line in subConvexPathList:
if not impededPathList.has_key(line):
if not impededPathList.has_key(
(line[1], line[0])):
impededPathList[
line] = subConvexPathList[line]
t2e = time.time()
time_contain2 += t2e - t2s
#pr.disable()
for line in dealtArcList:
if impededPathList.has_key(line):
del impededPathList[line]
#impededPathList = [x for x in impededPathList if x not in dealtArcList]
t4e = time.time()
time_convexLoop += t4e - t4s
#end of else
#end of while2
for line in impededPathList:
if not totalConvexPathList.has_key(line):
totalConvexPathList[line] = impededPathList[line]
#totalConvexPathList.extend(impededPathList)
#no obstruction
if no_obs == True:
return 1, st_line.length, st_line
totalGraph = createGraph(totalConvexPathList.keys())
esp_n = networkx.dijkstra_path(totalGraph, odPointsList[0],
odPointsList[1])
esp = []
for i in range(len(esp_n) - 1):
esp.append([esp_n[i], esp_n[i + 1]])
#w = shapefile.Writer(shapefile.POLYLINE)
#w.field('nem')
#no_edges = 0
#for line in totalConvexPathList.keys():
#no_edges += 1
#w.line(parts=[[ list(x) for x in line ]])
#w.record('ff')
#w.save(path + "totalpath" + version_name + "%d" % pair[1] )
w = shapefile.Writer(shapefile.POLYLINE)
w.field('nem')
for line in esp:
w.line(parts=[[list(x) for x in line]])
w.record('ff')
w.save(path + "ESP_" + version_name + "%d" % pair[1])
targetPysal = pysal.IOHandlers.pyShpIO.shp_file(path + "ESP_" +
version_name +
"%d" % pair[1])
targetShp = generateGeometry(targetPysal)
total_length = 0
for line in targetShp:
total_length += line.length
if case == "ff":
if total_length <= fd_fullPayload:
return 1, total_length, esp
else:
return 0, 0
elif case == 'fd':
if total_length <= fd_delivery:
return 1, total_length, None
else:
return 0, 0
geo_axes.set_extent([-120, -115, 30, 35], ccrs.PlateCarree())
geo_axes.plot(-117.1625, 32.715, "bo", markersize=7, transform=ccrs.Geodetic())
geo_axes.plot(-118.1625, 33.715, "bo", markersize=7, transform=ccrs.Geodetic())
geo_axes.text(-117, 33, "San Diego", transform=ccrs.Geodetic())
geo_axes.set_xmargin(0.05)
geo_axes.set_ymargin(0.10)
# ridge_vertices is the "voronoi lines".
for vert1, vert2 in vor.ridge_vertices:
# each one is a pair [vert1, vert2]
if vert1 < 0 or vert2 < 0:
continue
point1 = np.array(vor.vertices[vert1])
point2 = np.array(vor.vertices[vert2])
line1 = LineString([point1, point2])
if line1.crosses(bounds):
line_within = line1.intersection(bounds)
map.add_children(folium.PolyLine(locations=line_within.coords))
# |bounds| is a polygon so the intersection is the part that is
# within the polygon.
geometries.append(line_within)
elif not line1.within(bounds):
continue # don't draw this, it's outside SF
else:
map.add_children(folium.PolyLine(locations=[point1, point2]))
geometries.append(line1)
map.save(args.map_output_file)
geo_axes.add_geometries(geometries, ccrs.PlateCarree())
plt.show()
def fld_demo4(image, sheet_dict, split_x, name, save_path):
image_ = image.copy()
img = Image.fromarray(image)
t = time.time()
img_gray = cv2.cvtColor(image, cv2.COLOR_RGB2GRAY)
# ret, binary = cv2.threshold(img_gray, 0, 255, cv2.THRESH_BINARY | cv2.THRESH_OTSU)
fld = cv2.ximgproc.createFastLineDetector()
dlines = fld.detect(img_gray)
lines = [line[0] for line in dlines.tolist()]
lines_arr = np.array(lines)
width_ = lines_arr[:, 2] - lines_arr[:, 0]
height_ = lines_arr[:, 3] - lines_arr[:, 1]
lines_index1 = np.where(width_ > 50)[0]
lines_index2 = np.where(height_ > 50)[0]
lines_index = np.hstack([lines_index1, lines_index2])
new_lines = [lines[ele] for ele in lines_index]
new_lines = clean_repeat_lines(new_lines)
lines_tmp = filter_long_distance_lines(new_lines, sheet_dict)
# lines_without_mark = filter_line_in_mark(new_lines, sheet_dict)
# 检验滤线这一步骤有没有问题
for dline in lines_tmp:
x0 = int(round(dline[0]))
y0 = int(round(dline[1]))
x1 = int(round(dline[2]))
y1 = int(round(dline[3]))
cv2.line(image, (x0, y0), (x1, y1), (0, 255, 0), 1, cv2.LINE_AA)
text = str([x0, y0, x1, y1])
# cv2.putText(image, text, (x1, y1), cv2.FONT_HERSHEY_COMPLEX, 1, (0, 0, 255), 1)
# write_single_img(image, os.path.join(save_path, name + '_raw_lines' + '.jpg'))
# get roi polygon 适当放大一点区域,使的线能包含在面里
roi_box_polygon = []
for index, region_box in enumerate(sheet_dict):
if region_box['class_name'] in class_above_edge:
coordinates = region_box['bounding_box']
xmin = coordinates['xmin'] - 5
ymin = coordinates['ymin'] - 5
xmax = coordinates['xmax'] + 5
ymax = coordinates['ymax'] + 5
box_polygon = Polygon([(xmin, ymin), (xmax, ymin), (xmax, ymax),
(xmin, ymax)])
roi_box_polygon.append(box_polygon)
# cv2.rectangle(image, (xmin, ymin), (xmax, ymax), (0, 0, 255), 1)
# cv2.imwrite(r'E:\111_4_26_test_img\aa\save\enlarge_box.jpg', image)
# print(roi_box_polygon)
# 对line进行分横向纵向
landscape_list_tmp = [] # 横向
longitudinal_list_tmp = [] # 纵向
for ele in lines_tmp:
if int(ele[2]) - int(ele[0]) < 10: # 纵向
longitudinal_list_tmp.append(ele)
elif int(ele[3]) - int(ele[1]) < 10: # 横向
landscape_list_tmp.append(ele)
# print(longitudinal_list_tmp)
points_all_list = []
points_list = []
for index, box_polygon in enumerate(roi_box_polygon):
extend_line_lan = LineString()
extend_line_lon = LineString()
# points_list = []
for line1 in landscape_list_tmp:
for line2 in longitudinal_list_tmp:
# 这部分对原先出来的线进行增大
raw_line_lan = LineString([(line1[0], line1[1]),
(line1[2], line1[3])]) # 横向增加5个像素
line_start_lan, line_end_lan = raw_line_lan.bounds[
0], raw_line_lan.bounds[1]
raw_line_lon = LineString([(line2[0], line2[1]),
(line2[2], line2[3])]) # 纵向的增加5个像素
line_start_lon, line_end_lon = raw_line_lon.bounds[
0], raw_line_lon.bounds[1]
# decision1 = [raw_line_lan.within(box_polygon), raw_line_lan.contains(box_polygon), raw_line_lan.overlaps(box_polygon)]
# decision2 = [raw_line_lon.within(box_polygon), raw_line_lon.contains(box_polygon), raw_line_lon.overlaps(box_polygon)]
decision1 = [
raw_line_lan.within(box_polygon),
raw_line_lan.contains(box_polygon)
]
decision2 = [
raw_line_lon.within(box_polygon),
raw_line_lon.contains(box_polygon)
]
if True in decision1 and True in decision2:
# 这里需要考虑延长左边还是右边
bbox_xmin, bbox_ymin, bbox_xmax, bbox_ymax = box_polygon.bounds[0], box_polygon.bounds[1], \
box_polygon.bounds[2], box_polygon.bounds[3]
# if abs(line_start_lan - bbox_xmin) < abs(bbox_xmax - line_end_lan):
extend_line_lan = LineString([
(box_polygon.bounds[0], line1[1]),
(box_polygon.bounds[2], line1[3])
])
# elif abs(line_start_lon - bbox_ymin) < abs(bbox_ymax - line_end_lon):
extend_line_lon = LineString([
(line2[0], box_polygon.bounds[1]),
(line2[2], box_polygon.bounds[3])
])
cond1 = raw_line_lan.intersects(raw_line_lon)
cond2 = raw_line_lan.crosses(raw_line_lon)
cond3 = extend_line_lan.intersects(extend_line_lon) # 十字交叉
cond4 = extend_line_lan.crosses(extend_line_lon) # 十字交叉
xp, yp = 0.0, 0.0
if cond1:
(xp, yp
) = raw_line_lan.intersection(raw_line_lon).bounds[:2]
elif cond3:
(xp, yp) = extend_line_lan.intersection(
extend_line_lon).bounds[:2]
points_list.append([(xp, yp), (raw_line_lan, raw_line_lon),
(extend_line_lan, extend_line_lon),
box_polygon])
# TODO 验证找所有点的正确性
# template = r'F:\exam\sheet_resolve\exam_info\000000-template.xml'
# tree = ET.parse(template)
# for ele in points_list:
# # for points2 in ele:
# # points1 = points_[1][0].bounds
# # points2 = points_[1][1].bounds
# # create_xml(str(points_[0]), tree, int(points1[0]), int(points1[1]), int(points1[2]), int(points1[3]))
# # create_xml(str(points_[0]), tree, int(points2[0]), int(points2[1]), int(points2[2]), int(points2[3]))
# points2 = ele[0]
# create_xml('points', tree, int(points2[0]), int(points2[1]), int(points2[0] + 1), int(points2[1] + 1))
# tree.write(os.path.join(save_path, name + '.xml'))
# 找出角点最优的那个
# check points 判断点周围有没有黑色像素
points_list_x = sorted(points_list, key=lambda k: k[0][0])
sort_by_x = [ele[0] for ele in points_list_x]
differ_new1 = np.array(sort_by_x[1:]) - np.array(sort_by_x[:-1])
index_new1 = sorted(list(set(np.where(differ_new1 > 10.0)[0])))
points_list_new_x = [points_list_x[ele] for ele in index_new1]
points_list_y = sorted(points_list_new_x, key=lambda k: k[0][1])
sort_by_y = [ele[0] for ele in points_list_y]
differ_new2 = np.array(sort_by_y[1:]) - np.array(sort_by_y[:-1])
index_new2 = sorted(list(set(np.where(differ_new2 > 10.0)[0])))
points_list_new_y = [points_list_y[ele] for ele in index_new2]
print('points_list:', points_list_new_y)
pixel_point_all = judge_cross_point(points_list_new_y,
image,
name,
thresh=30)
def get_direction(points_and_lines, box_polygon, image):
image_height, image_width = image.shape[:2]
gray = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
ret, binary = cv2.threshold(gray, 240, 255, cv2.THRESH_BINARY_INV) # raw
# cv2.imwrite(os.path.join(r'E:\December\math_12_18\1_18\test_img\save3\\', 'THRESH_BINARY_INV' + '.jpg'), binary)
# DIR_UP, DIR_DOWN, DIR_LEFT, DIR_RIGHT = 1, 2, 4, 8
DIR_UP, DIR_DOWN, DIR_LEFT, DIR_RIGHT = False, False, False, False
# c++ 规则
# CROSS_TL = DIR_UP | DIR_LEFT
# CROSS_TR = DIR_UP | DIR_RIGHT
# CROSS_TLR = DIR_UP | DIR_LEFT | DIR_RIGHT
# CROSS_BL = DIR_DOWN | DIR_LEFT
# CROSS_BR = DIR_DOWN | DIR_RIGHT
# CROSS_BLR = DIR_DOWN | DIR_LEFT | DIR_RIGHT
# CROSS_TBL = DIR_UP | DIR_DOWN | DIR_LEFT
# CROSS_TBR = DIR_UP | DIR_DOWN | DIR_RIGHT
# CROSS_TBLR = DIR_UP | DIR_DOWN | DIR_LEFT | DIR_RIGHT
# python 规则
# CROSS_TL = DIR_UP and DIR_LEFT
# CROSS_TR = DIR_UP and DIR_RIGHT
# CROSS_TLR = DIR_UP and DIR_LEFT and DIR_RIGHT
# CROSS_BL = DIR_DOWN and DIR_LEFT
# CROSS_BR = DIR_DOWN and DIR_RIGHT
# CROSS_BLR = DIR_DOWN and DIR_LEFT and DIR_RIGHT
# CROSS_TBL = DIR_UP and DIR_DOWN and DIR_LEFT
# CROSS_TBR = DIR_UP and DIR_DOWN and DIR_RIGHT
# CROSS_TBLR = DIR_UP and DIR_DOWN and DIR_LEFT and DIR_RIGHT
# rule_list = [CROSS_TL, CROSS_TR, CROSS_TLR, CROSS_BL, CROSS_BR, CROSS_BLR, CROSS_TBL, CROSS_TBR, CROSS_TBLR]
# 因为延长的线可能出问题,这里用的是原始的线
print('points_and_lines:', points_and_lines)
points = points_and_lines[0]
raw_line = points_and_lines[1]
point_x = int(points[0])
point_y = int(points[1])
# if point_x == 1620 and point_y == 3260:
bbox = box_polygon.bounds
left_boarder = int(bbox[0]) - point_x if int(bbox[0]) - point_x > 0 else 0
right_boarder = int(bbox[2]) + point_x if int(
bbox[2]) + point_x < image_width else image_width
top_boarder = int(bbox[1]) - point_y if int(bbox[1]) - point_y > 0 else 0
bottom_boarder = int(bbox[3]) + point_y if int(
bbox[3]) + point_y < image_height else image_height
cv2.rectangle(image, (left_boarder, top_boarder),
(right_boarder, bottom_boarder), (255, 0, 255), 1)
raw_line_lan_ = raw_line[0]
raw_line_lon_ = raw_line[1]
if abs(raw_line_lan_.bounds[2] - point_x) >= abs(raw_line_lan_.bounds[0] -
point_x):
raw_line_lan = LineString([(point_x, raw_line_lan_.bounds[1]),
(raw_line_lan_.bounds[2],
raw_line_lan_.bounds[3])])
else:
raw_line_lan = LineString([(raw_line_lan_.bounds[0],
raw_line_lan_.bounds[1]),
(point_x, raw_line_lan_.bounds[3])])
if abs(raw_line_lon_.bounds[3] - point_y) <= abs(point_y -
raw_line_lon_.bounds[1]):
raw_line_lon = LineString([(raw_line_lon_.bounds[0],
raw_line_lon_.bounds[1]),
(raw_line_lon_.bounds[2], point_y)])
else:
raw_line_lon = LineString([(raw_line_lon_.bounds[0], point_y),
(raw_line_lon_.bounds[2],
raw_line_lon_.bounds[3])])
# box_polygon = Polygon([(xmin, ymin), (xmax, ymin), (xmax, ymax), (xmin, ymax)])
right_area = Polygon([(point_x, point_y - 10),
(right_boarder, point_y - 10),
(right_boarder, point_y + 10),
(point_x, point_y + 10)])
# 横线
cv2.line(image, (int(raw_line_lan.bounds[0]), int(raw_line_lan.bounds[1])),
(int(raw_line_lan.bounds[2]), int(raw_line_lan.bounds[3])),
(255, 0, 0), 1, cv2.LINE_AA)
# cv2.line(image, (int(raw_line_lan_.bounds[0]), int(raw_line_lan_.bounds[1])),
# (int(raw_line_lan_.bounds[2]), int(raw_line_lan_.bounds[3])), (255, 255, 0), 1, cv2.LINE_AA)
# 纵线
cv2.line(image, (int(raw_line_lon.bounds[0]), int(raw_line_lon.bounds[1])),
(int(raw_line_lon.bounds[2]), int(raw_line_lon.bounds[3])),
(255, 0, 0), 1, cv2.LINE_AA)
# cv2.line(image, (int(raw_line_lon_.bounds[0]), int(raw_line_lon_.bounds[1])),
# (int(raw_line_lon_.bounds[2]), int(raw_line_lon_.bounds[3])), (255, 255, 0), 1, cv2.LINE_AA)
cv2.rectangle(image,
(int(right_area.bounds[0]), int(right_area.bounds[1])),
(int(right_area.bounds[2]), int(right_area.bounds[3])),
(255, 0, 255), 1)
# cv2.imwrite(r'E:\December\math_12_18\1_18\test_img\save3\extend_lines_by_bbox.jpg', image)
# 水平向右
decision = [
raw_line_lan.within(right_area),
raw_line_lan.contains(right_area),
raw_line_lan.crosses(right_area)
]
if True in decision:
DIR_RIGHT = True
# 水平向左
left_area = Polygon([(left_boarder, point_y - 10), (point_x, point_y - 10),
(point_x, point_y + 10),
(left_boarder, point_y + 10)])
decision = [
raw_line_lan.within(left_area),
raw_line_lan.contains(left_area),
raw_line_lan.crosses(left_area)
]
if True in decision:
DIR_LEFT = True
# box_polygon = Polygon([(xmin, ymin), (xmax, ymin), (xmax, ymax), (xmin, ymax)])
# 垂直向上
top_area = Polygon([(point_x - 10, top_boarder),
(point_x + 10, top_boarder), (point_x + 10, point_y),
(point_x - 10, point_y)])
decision = [
raw_line_lon.within(top_area),
raw_line_lon.contains(top_area),
raw_line_lon.crosses(top_area)
]
if True in decision:
DIR_UP = True
# 垂直向下
bottom_area = Polygon([(point_x - 10, point_y), (point_x + 10, point_y),
(point_x + 10, bottom_boarder),
(point_x - 10, bottom_boarder)])
decision = [
raw_line_lon.within(bottom_area),
raw_line_lon.contains(bottom_area),
raw_line_lon.crosses(bottom_area)
]
if True in decision:
DIR_DOWN = True
CROSS_TL = DIR_UP and DIR_LEFT
CROSS_TR = DIR_UP and DIR_RIGHT
CROSS_TLR = DIR_UP and DIR_LEFT and DIR_RIGHT
CROSS_BL = DIR_DOWN and DIR_LEFT
CROSS_BR = DIR_DOWN and DIR_RIGHT
CROSS_BLR = DIR_DOWN and DIR_LEFT and DIR_RIGHT
CROSS_TBL = DIR_UP and DIR_DOWN and DIR_LEFT
CROSS_TBR = DIR_UP and DIR_DOWN and DIR_RIGHT
CROSS_TBLR = DIR_UP and DIR_DOWN and DIR_LEFT and DIR_RIGHT
direction_dict = {
0: 'CROSS_TL',
1: 'CROSS_TR',
2: 'CROSS_TLR',
3: 'CROSS_BL',
4: 'CROSS_BR',
5: 'CROSS_BLR',
6: 'CROSS_TBL',
7: 'CROSS_TBR',
8: 'CROSS_TBLR',
}
rule_list_tmp = [
CROSS_TL, CROSS_TR, CROSS_TLR, CROSS_BL, CROSS_BR, CROSS_BLR,
CROSS_TBL, CROSS_TBR, CROSS_TBLR
]
index_ = np.where(np.array(rule_list_tmp) == True)[0]
if len(index_) == 0:
print('没找到方向:', points)
return None
else:
print('index_:', index_)
direction = direction_dict[index_[0]]
return direction
class ADPolyline(object):
def __init__(self, shapely_geo=None, vertices=None, use_arcpy=False, use_shapely=False):
"""
Can be initiated with either a shapely Linestring or a list of ADPoints (vertices)
:param shapely_geo: Linestring object
:param vertices: list of ADPoint objects
:param use_arcpy: not implemented yet
:param use_shapely: default
:return: None
"""
if vertices is not None and shapely_geo is None:
# vertices supplied, create geo
# assume vertices are all ADPoint
self.vertices = vertices
self.__geo_from_vertices(vertices)
elif vertices is None and shapely_geo is not None:
# Extract vertices from shapely geo
self.vertices = []
self.shapely_geo = shapely_geo
# Make coordinates python friendly
coord_list = list(shapely_geo.coords)
if len(coord_list[0]) == 2:
# 2d linestring
for x, y in coord_list:
vertex = ADPoint(x, y)
self.vertices.append(vertex)
elif len(coord_list[0]) == 3:
# 3d linestring - ignore z value
for x, y, _ in coord_list:
vertex = ADPoint(x, y)
self.vertices.append(vertex)
self.first_point = self.vertices[0]
self.last_point = self.vertices[-1]
else:
# got nothing, bail
raise
# Only allowed to use arcpy or shapely
if use_arcpy and use_arcpy:
raise
if use_arcpy:
raise NotImplementedError
# self.geometry = arcpy.yadayada
# self.point_at_distance() = arcpy.yada
if use_shapely:
pass
self.length = self.shapely_geo.length
def __geo_from_vertices(self, vertices):
temp_vertices = []
for vertex in vertices:
temp_vertex = (vertex.X, vertex.Y)
temp_vertices.append(temp_vertex)
self.shapely_geo = LineString(temp_vertices)
self.first_point = self.vertices[0]
self.last_point = self.vertices[-1]
def __str__(self):
s = ''
for vertex in self.vertices:
s += str(vertex) + ', '
return s[:-2]
def crosses(self, line):
return self.shapely_geo.crosses(line.shapely_geo)
def is_same_as(self, polyline):
if not isinstance(polyline, ADPolyline):
raise # something
if DEBUG_same_as:
print 'comparing 2 polylines'
for vertex1, vertex2 in zip(self.vertices, polyline.vertices):
if not vertex1.is_same_as(vertex2):
return False
return True
def intersection(self, polyline):
"""
Intersects self with polyline. Returns either ADPoint, list of ADPoints, or returns None
:param polyline: ADPolyline
:return: ADPoint, list of ADPoints or None
"""
new_geo = self.shapely_geo.intersection(polyline.shapely_geo)
if type(new_geo) is Point:
return ADPoint(shapely_geo=new_geo)
elif type(new_geo) is MultiPoint:
shapely_points = list(new_geo)
ad_points = []
for point in shapely_points:
ad_points.append(ADPoint(shapely_geo=point))
return ad_points
else:
return None
def mid_point(self):
"""
Returns midpoint of self
:return: ADPoint
"""
return self.interpolate(0.5, normalized=True)
def nearest_intersection(self, line, test_point):
"""
Intersects self.shapely_geo with line and returns the intersection nearest to test_point
If test_point is the location of an intersection it will be returned
:param line: ADPolyline
:param point: ADPoint
:return: ADPoint
"""
intersects = self.intersection(line)
# Check for multipoint return or no intersection
if type(intersects) is ADPoint:
# single intersection
return intersects
elif type(intersects) is None:
raise UnknownIntersection('BFE doesn\'t intersect with contour')
elif type(intersects) is not list:
raise UnknownIntersection('Unknown return type from intersection: '+str(type(intersects)))
# Assume intersects is a list of ADPoints
# Sort by distance along self, relative to test_point
test_dist = self.project(test_point)
for point in intersects:
point.station = abs(self.project(point)-test_dist)
intersects.sort(key=lambda x: x.station)
# Return closest point
return intersects[0]
def num_intersects(self, line):
"""
Intersects self with line. returns the number of point intersections
:param line: ADPolyline
:return: int
"""
intersect = self.intersection(line)
if intersect is None:
return 0
elif type(intersect) is ADPoint:
return 1
elif type(intersect) is list:
return len(intersect)
else:
# Returned polyline or something weird. Maybe raise an exception here?
return 0
def point_at_distance(self, distance, normalize=False):
new_pt = self.shapely_geo.interpolate(distance, normalized=normalize)
return ADPoint(shapely_geo=new_pt)
def distance_to(self, gis_thing):
#print type(gis_thing)
return self.shapely_geo.distance(gis_thing.shapely_geo)
def interpolate(self, distance, normalized=False):
""" Returns ADPoint at distance along polyline """
geo = self.shapely_geo.interpolate(distance, normalized)
return ADPoint(shapely_geo=geo)
def project(self, gis_thing):
"""Returns the distance along this geometric object to a point nearest the other object."""
return self.shapely_geo.project(gis_thing.shapely_geo)
def plot(self, *args, **kwargs):
pyplot.plot(self.shapely_geo.xy[0], self.shapely_geo.xy[1], *args, **kwargs)
def label(self, text='insert text here', reverse=False, *args, **kwargs):
if reverse:
X = self.last_point.X
Y = self.last_point.Y
else:
X = self.first_point.X
Y = self.first_point.Y
pyplot.annotate(str(text), xy=(X, Y), *args, **kwargs)
def clip(self, point1, point2):
"""
Returns ADPolyline of the current polyline clipped between point1 and point2
Searches for loop (closed) contours and returns the shortest portion of the contour
between point1 and point2
:param point1: ADPoint
:param point2: ADPoint
:return: ADPolyline
"""
# Don't screw up the real vertex order
vertices = copy.copy(self.vertices)
if DEBUG_contour_loop:
print '..before sort start/end vertices', vertices[0], vertices[-1]
# Check for loop contour
if vertices[-1].is_same_as(vertices[0]):
loop_flag = True
else:
loop_flag = False
# tag existing vertices
for vertex in vertices:
vertex.flag = False
# tag new vertices
point1.flag = True
point2.flag = True
# calculate distances for contour vertices the fast way
last_point = vertices[0]
last_point.station = 0
station = 0
for vertex in vertices[1:]:
station += vertex.distance(last_point)
vertex.station = station
last_point = vertex
# calculate distances for new vertices the slow way
point1.station = self.project(point1)
point2.station = self.project(point2)
vertices += [point1, point2]
# sort the vertices
vertices.sort(key=lambda x: x.station)
if DEBUG_contour_loop:
print '..after sort start/end vertices', vertices[0], vertices[-1]
# extract middle points, keep beginning and end of line for loop calcs
start_vertices = []
new_vertices = []
end_vertices = []
state = 'start'
for vertex in vertices:
if state == 'start' and vertex.flag is False:
# not one of our points
start_vertices.append(vertex)
elif state == 'start' and vertex.flag is True:
state = 'in'
new_vertices.append(vertex)
elif state == 'in' and vertex.flag is False:
new_vertices.append(vertex)
elif state == 'in' and vertex.flag is True:
# last vertex in middle
state = 'end'
new_vertices.append(vertex)
elif state == 'end':
end_vertices.append(vertex)
# outside portion of line, for loop contour tests
outside_vertices = end_vertices + start_vertices[1:]
if DEBUG_contour_loop:
print '..len vertices = ', len(vertices)
print '..len new_vertices = ', len(new_vertices)
print '..line outside_vertices = ', len(outside_vertices)
print '..start/end vertices', start_vertices[0], end_vertices[-1]
inside_line = ADPolyline(vertices=new_vertices)
# Check for loop contour
if loop_flag:
outside_line = ADPolyline(vertices=outside_vertices)
# loop contour, see if outside is shorter
if DEBUG_contour_loop:
print '..loop contour'
print '..outside line lenght = ', outside_line.length
print '..inside line length = ', inside_line.length
if outside_line.length < inside_line.length:
return outside_line
if DEBUG_contour_loop:
print '..returning inside line'
return inside_line
def flip(self):
self.vertices = self.vertices[::-1]
self.__geo_from_vertices(self.vertices)
def createConvexPath_FD(pair):
#For F_D pair only
#return demand_id if ESP distance to target demand is less than fd_delivery
print pair[1]
odPointsList = ((pair[0][0].x, pair[0][0].y), (pair[0][1].x, pair[0][1].y))
st_line = LineString(odPointsList)
labeledObstaclePoly = []
totalConvexPathList = {}
if st_line.length > fd_delivery * 5280:
return 0
dealtArcList = {}
totalConvexPathList[odPointsList] = LineString(odPointsList)
LineString
terminate = 0
idx_loop1 = 0
time_loop1 = 0
time_contain2 = 0
time_crossingDict = 0
time_convexLoop = 0
time_impedingArcs = 0
time_spatialFiltering = 0
time_loop1_crossingDict = 0
time_buildConvexHulls = 0
no_obs = False
while terminate == 0:
t1s = time.time()
idx_loop1 += 1
t6s = time.time()
#w = shapefile.Writer(shapefile.POLYLINE)
#w.field('nem')
#for line in totalConvexPathList:
#w.line(parts=[[ list(x) for x in line ]])
#w.record('ff')
#w.save(path + "graph_" + str(idx_loop1) + version_name)
totalGrpah = createGraph(totalConvexPathList.keys())
spatial_filter_n = networkx.dijkstra_path(totalGrpah, odPointsList[0], odPointsList[1])
spatial_filter = []
for i in xrange(len(spatial_filter_n)-1):
spatial_filter.append([spatial_filter_n[i], spatial_filter_n[i+1]])
#w = shapefile.Writer(shapefile.POLYLINE)
#w.field('nem')
#for line in spatial_filter:
#w.line(parts=[[ list(x) for x in line ]])
#w.record('ff')
#w.save(self.path + "spatial Filter_" + str(idx_loop1) + self.version_name)
#sp_length = 0
#for j in spatial_filter:
#sp_length += LineString(j).length
#sp_l_set.append(sp_length)
crossingDict = defaultdict(list)
for line in spatial_filter:
Line = LineString(line)
for obs in obstaclesPolygons:
if Line.crosses(obs):
if obs not in labeledObstaclePoly:
labeledObstaclePoly.append(obs)
crossingDict[tuple(line)].append(obs)
t6e = time.time()
time_spatialFiltering += t6e - t6s
if len(crossingDict.keys()) == 0:
terminate = 1
no_obs = True
continue
else:
t7s = time.time()
for tLine in crossingDict.keys():
#cLine = list(tLine)
if dealtArcList.has_key(tLine):
try:
del totalConvexPathList[tLine]
except:
del totalConvexPathList[(tLine[1], tLine[0])]
continue
else:
dealtArcList[tLine] = LineString(list(tLine))
try:
del totalConvexPathList[tLine]
except:
del totalConvexPathList[(tLine[1], tLine[0])]
containingObs = []
for obs in crossingDict[tLine]:
convexHull = createConvexhull(obs, tLine)
splitBoundary(totalConvexPathList, convexHull)
convexHull = createConvexhull(obs, odPointsList)
splitBoundary(totalConvexPathList, convexHull)
convexHull2 = createConvexhull(obs)
if convexHull2.contains(Point(tLine[0])):
containingObs.append(obs)
elif convexHull2.contains(Point(tLine[1])):
containingObs.append(obs)
if len(containingObs) != 0: #SPLIT
subConvexPathList = {}
vi_obs = MultiPolygon([x for x in containingObs])
containedLineCoords = list(tLine)
fromX = containedLineCoords[0][0]
fromY = containedLineCoords[0][1]
toX = containedLineCoords[1][0]
toY = containedLineCoords[1][1]
fxA = (fromY - toY) / (fromX - toX)
fxB = fromY - (fxA * fromX)
minX = vi_obs.bounds[0]
maxX = vi_obs.bounds[2]
split_line = LineString([(min(minX, fromX, toX), fxA * min(minX, fromX, toX) + fxB), (max(maxX, fromX, toX), fxA * max(maxX, fromX, toX) + fxB)])
for obs in containingObs:
s1, s2 = splitPolygon(split_line, obs)
dividedObsPoly = []
#to deal with multipolygon
a = s1.intersection(obs)
b = s2.intersection(obs)
if a.type == "Polygon":
dividedObsPoly.append(a)
else:
for o in a.geoms:
if o.type == "Polygon":
dividedObsPoly.append(o)
if b.type == "Polygon":
dividedObsPoly.append(b)
else:
for o2 in b.geoms:
if o2.type == "Polygon":
dividedObsPoly.append(o2)
for obs2 in dividedObsPoly:
for pt in tLine:
convexHull = createConvexhull(obs2, [pt])
splitBoundary(subConvexPathList, convexHull)
subVertices = []
for line in subConvexPathList:
subVertices.extend(line)
subVertices = list(set(subVertices))
containingObsVertices = []
for obs in containingObs:
containingObsVertices.extend(list(obs.exterior.coords))
subVertices = [x for x in subVertices if x in containingObsVertices]
deleteList = []
for line in subConvexPathList:
chk_cross = 0
for obs in containingObs:
if subConvexPathList[line].crosses(obs):
chk_cross = 1
if chk_cross == 1:
deleteList.append(line)
for line in deleteList:
del subConvexPathList[line]
#subConvexPathList.remove(line)
pairList = []
for i in range(len(subVertices)):
for j in range(i+1, len(subVertices)):
pairList.append((subVertices[i], subVertices[j]))
for i in pairList:
Line = LineString(i)
chk_cross = 0
for obs in containingObs:
if Line.crosses(obs):
chk_cross = 1
elif Line.within(obs):
chk_cross = 1
if chk_cross == 0:
subConvexPathList[i] = Line
#subConvexPathList.append(i)
buffer_st_line = split_line.buffer(0.1)
deleteList = []
for line in subConvexPathList:
if buffer_st_line.contains(subConvexPathList[line]):
deleteList.append(line)
for line in deleteList:
if subConvexPathList.has_key(line):
del subConvexPathList[line]
#subConvexPathList = [x for x in subConvexPathList if x not in deleteList]
for line in subConvexPathList:
if not totalConvexPathList.has_key(line):
if not totalConvexPathList.has_key((line[1],line[0])):
totalConvexPathList[line] = subConvexPathList[line] #if line not in totalConvexPathList:
#if [line[1], line[0]] not in totalConvexPathList:
#totalConvexPathList.append(line)
#w = shapefile.Writer(shapefile.POLYLINE)
#w.field('nem')
#for line in totalConvexPathList:
#w.line(parts=[[ list(x) for x in line ]])
#w.record('ff')
#w.save(self.path + "graph2_" + str(idx_loop1) + self.version_name)
t7e = time.time()
time_loop1_crossingDict += t7e - t7s
#new lines
labeled_multyPoly = MultiPolygon([x for x in labeledObstaclePoly])
convexHull = createConvexhull(labeled_multyPoly, odPointsList)
splitBoundary(totalConvexPathList, convexHull)
#new lines end
#impededPathList
t5s = time.time()
impededPathList = {}
for line in totalConvexPathList:
for obs in labeledObstaclePoly:
if totalConvexPathList[line].crosses(obs):
impededPathList[line] = totalConvexPathList[line]
break
t5e = time.time()
time_impedingArcs += t5e - t5s
for line in impededPathList:
del totalConvexPathList[line]
terminate2 = 0
idx_loop2 = 0
t1e = time.time()
time_loop1 += t1e - t1s
while terminate2 == 0:
idx_loop2 += 1
deleteList = []
crossingDict = defaultdict(list)
for line in dealtArcList:
if impededPathList.has_key(line):
del impededPathList[line]
elif impededPathList.has_key((line[1], line[0])):
del impededPathList[(line[1],line[0])]
t3s = time.time()
#pr.enable()
for line in impededPathList:
for obs in labeledObstaclePoly:
if impededPathList[line].crosses(obs):
crossingDict[line].append(obs)
t3e = time.time()
time_crossingDict += t3e - t3s
#at this point, impededArcList should be emptied, as it only contains crossing arcs, and all of them
#should be replaced by convex hulls.
for line in crossingDict:
del impededPathList[line]
for line in impededPathList:
if not totalConvexPathList.has_key(line):
totalConvexPathList[line] = impededPathList[line]
impededPathList = {}
if len(crossingDict.keys()) == 0:
terminate2 = 1
continue
else:
#w = shapefile.Writer(shapefile.POLYLINE)
#w.field('nem')
#for line in crossingDict:
#w.line(parts=[[ list(x) for x in line ]])
#w.record('ff')
#w.save(self.path + "crossingDict_" + str(idx_loop1) + "_"+ str(idx_loop2) +"_"+ self.version_name)
t4s = time.time()
for tLine in crossingDict.keys():
dealtArcList[tLine] = crossingDict[tLine]
containingObs = []
for obs in crossingDict[tLine]:
chk_contain = 0
convexHull2 = createConvexhull(obs)
if convexHull2.contains(Point(tLine[0])):
containingObs.append(obs)
chk_contain = 1
elif convexHull2.contains(Point(tLine[1])):
containingObs.append(obs)
chk_contain = 1
if chk_contain == 0:
t10s = time.time()
convexHull = createConvexhull(obs, tLine)
splitBoundary(impededPathList, convexHull)
t10e = time.time()
time_buildConvexHulls += t10e - t10s
if len(containingObs) != 0: #SPLIT
#print "SPLIT"
t2s = time.time()
subConvexPathList = {}
vi_obs = MultiPolygon([x for x in containingObs])
containedLineCoords = tLine
fromX = containedLineCoords[0][0]
fromY = containedLineCoords[0][1]
toX = containedLineCoords[1][0]
toY = containedLineCoords[1][1]
fxA = (fromY - toY) / (fromX - toX)
fxB = fromY - (fxA * fromX)
minX = vi_obs.bounds[0]
maxX = vi_obs.bounds[2]
split_line = LineString([(min(minX, fromX, toX), fxA * min(minX, fromX, toX) + fxB), (max(maxX, fromX, toX), fxA * max(maxX, fromX, toX) + fxB)])
for obs in containingObs:
s1, s2 = splitPolygon(split_line, obs)
dividedObsPoly = []
#to deal with multipolygon
a = s1.intersection(obs)
b = s2.intersection(obs)
if a.type == "Polygon":
dividedObsPoly.append(a)
else:
for o in a.geoms:
if o.type == "Polygon":
dividedObsPoly.append(o)
if b.type == "Polygon":
dividedObsPoly.append(b)
else:
for o2 in b.geoms:
if o2.type == "Polygon":
dividedObsPoly.append(o2)
for obs2 in dividedObsPoly:
for pt in tLine:
convexHull = createConvexhull(obs2, [pt])
splitBoundary(subConvexPathList, convexHull)
subVertices = []
for line in subConvexPathList:
subVertices.extend(line)
subVertices = list(set(subVertices))
containingObsVertices = []
for obs in containingObs:
containingObsVertices.extend(list(obs.exterior.coords))
subVertices = [x for x in subVertices if x in containingObsVertices]
deleteList = []
for line in subConvexPathList:
chk_cross = 0
for obs in containingObs:
if subConvexPathList[line].crosses(obs):
chk_cross = 1
if chk_cross == 1:
deleteList.append(line)
for line in deleteList:
del subConvexPathList[line]
pairList = []
for i in range(len(subVertices)):
for j in range(i+1, len(subVertices)):
pairList.append((subVertices[i], subVertices[j]))
for i in pairList:
Line = LineString(list(i))
chk_cross = 0
for obs in containingObs:
if Line.crosses(obs):
chk_cross = 1
elif Line.within(obs):
chk_cross = 1
if chk_cross == 0:
subConvexPathList[i] = Line
buffer_st_line = split_line.buffer(0.1)
deleteList = []
for line in subConvexPathList:
if buffer_st_line.contains(subConvexPathList[line]):
deleteList.append(line)
for line in deleteList:
del subConvexPathList[line]
for line in subConvexPathList:
if not impededPathList.has_key(line):
if not impededPathList.has_key((line[1], line[0])):
impededPathList[line] = subConvexPathList[line]
t2e = time.time()
time_contain2 += t2e - t2s
#pr.disable()
for line in dealtArcList:
if impededPathList.has_key(line):
del impededPathList[line]
#impededPathList = [x for x in impededPathList if x not in dealtArcList]
t4e = time.time()
time_convexLoop += t4e - t4s
#end of else
#w = shapefile.Writer(shapefile.POLYLINE)
#w.field('nem')
#for line in impededPathList:
#w.line(parts=[[ list(x) for x in line ]])
#w.record('ff')
#w.save(path + "After_graph_" + str(idx_loop1) + "_"+ str(idx_loop2) +"_"+ version_name)
#end of while2
for line in impededPathList:
if not totalConvexPathList.has_key(line):
totalConvexPathList[line] = impededPathList[line]
#totalConvexPathList.extend(impededPathList)
#no obstruction
if no_obs == True:
return 1
totalGraph = createGraph(totalConvexPathList.keys())
esp_n = networkx.dijkstra_path(totalGraph, odPointsList[0], odPointsList[1])
esp = []
for i in range(len(esp_n)-1):
esp.append([esp_n[i], esp_n[i+1]])
#w = shapefile.Writer(shapefile.POLYLINE)
#w.field('nem')
#no_edges = 0
#for line in totalConvexPathList.keys():
#no_edges += 1
#w.line(parts=[[ list(x) for x in line ]])
#w.record('ff')
#w.save(path + "totalpath" + version_name + "%d" % pair[1] )
w = shapefile.Writer(shapefile.POLYLINE)
w.field('nem')
for line in esp:
w.line(parts=[[ list(x) for x in line ]])
w.record('ff')
w.save(path + "ESP_" + version_name + "%d" % pair[1])
targetPysal = pysal.IOHandlers.pyShpIO.shp_file(path + "ESP_" + version_name + "%d" % pair[1])
targetShp = generateGeometry(targetPysal)
total_length = 0
for line in targetShp:
total_length += line.length
if total_length <= fd_delivery:
return 1
else:
return 0
def createConvexPath(self, pair):
#pr = cProfile.Profile()
#pr2 = cProfile.Profile()
print pair[1]
odPointsList = ((pair[0][0].x, pair[0][0].y), (pair[0][1].x, pair[0][1].y))
#st_line = LineString(odPointsList)
labeledObstaclePoly = []
totalConvexPathList = {}
dealtArcList = {}
totalConvexPathList[odPointsList] = LineString(odPointsList)
terminate = 0
idx_loop1 = 0
#sp_l_set = []
time_loop1 = 0
time_contain2 = 0
time_crossingDict = 0
time_convexLoop = 0
time_impedingArcs = 0
time_spatialFiltering = 0
time_loop1_crossingDict = 0
time_buildConvexHulls = 0
while terminate == 0:
t1s = time.time()
idx_loop1 += 1
t6s = time.time()
#w = shapefile.Writer(shapefile.POLYLINE)
#w.field('nem')
#for line in totalConvexPathList:
#w.line(parts=[[ list(x) for x in line ]])
#w.record('ff')
#w.save(self.path + "graph_" + str(idx_loop1) + self.version_name)
totalGrpah = self.createGraph(totalConvexPathList.keys())
spatial_filter_n = networkx.dijkstra_path(totalGrpah, odPointsList[0], odPointsList[1])
spatial_filter = []
for i in xrange(len(spatial_filter_n)-1):
spatial_filter.append([spatial_filter_n[i], spatial_filter_n[i+1]])
#w = shapefile.Writer(shapefile.POLYLINE)
#w.field('nem')
#for line in spatial_filter:
#w.line(parts=[[ list(x) for x in line ]])
#w.record('ff')
#w.save(self.path + "spatial Filter_" + str(idx_loop1) + self.version_name)
#sp_length = 0
#for j in spatial_filter:
#sp_length += LineString(j).length
#sp_l_set.append(sp_length)
crossingDict = defaultdict(list)
for line in spatial_filter:
Line = LineString(line)
for obs in self.obstaclesPolygons:
if Line.crosses(obs):
if obs not in labeledObstaclePoly:
labeledObstaclePoly.append(obs)
crossingDict[tuple(line)].append(obs)
t6e = time.time()
time_spatialFiltering += t6e - t6s
if len(crossingDict.keys()) == 0:
terminate = 1
continue
else:
t7s = time.time()
for tLine in crossingDict.keys():
#cLine = list(tLine)
if dealtArcList.has_key(tLine):
try:
del totalConvexPathList[tLine]
except:
del totalConvexPathList[(tLine[1], tLine[0])]
continue
else:
dealtArcList[tLine] = LineString(list(tLine))
try:
del totalConvexPathList[tLine]
except:
del totalConvexPathList[(tLine[1], tLine[0])]
containingObs = []
for obs in crossingDict[tLine]:
convexHull = self.createConvexhull(obs, tLine)
self.splitBoundary(totalConvexPathList, convexHull)
convexHull = self.createConvexhull(obs, odPointsList)
self.splitBoundary(totalConvexPathList, convexHull)
convexHull2 = self.createConvexhull(obs)
if convexHull2.contains(Point(tLine[0])):
containingObs.append(obs)
elif convexHull2.contains(Point(tLine[1])):
containingObs.append(obs)
if len(containingObs) != 0: #SPLIT
subConvexPathList = {}
vi_obs = MultiPolygon([x for x in containingObs])
containedLineCoords = list(tLine)
fromX = containedLineCoords[0][0]
fromY = containedLineCoords[0][1]
toX = containedLineCoords[1][0]
toY = containedLineCoords[1][1]
fxA = (fromY - toY) / (fromX - toX)
fxB = fromY - (fxA * fromX)
minX = vi_obs.bounds[0]
maxX = vi_obs.bounds[2]
split_line = LineString([(min(minX, fromX, toX), fxA * min(minX, fromX, toX) + fxB), (max(maxX, fromX, toX), fxA * max(maxX, fromX, toX) + fxB)])
for obs in containingObs:
s1, s2 = self.splitPolygon(split_line, obs)
dividedObsPoly = []
#to deal with multipolygon
a = s1.intersection(obs)
b = s2.intersection(obs)
if a.type == "Polygon":
dividedObsPoly.append(a)
else:
for o in a.geoms:
if o.type == "Polygon":
dividedObsPoly.append(o)
if b.type == "Polygon":
dividedObsPoly.append(b)
else:
for o2 in b.geoms:
if o2.type == "Polygon":
dividedObsPoly.append(o2)
for obs2 in dividedObsPoly:
for pt in tLine:
convexHull = self.createConvexhull(obs2, [pt])
self.splitBoundary(subConvexPathList, convexHull)
subVertices = []
for line in subConvexPathList:
subVertices.extend(line)
subVertices = list(set(subVertices))
containingObsVertices = []
for obs in containingObs:
containingObsVertices.extend(list(obs.exterior.coords))
subVertices = [x for x in subVertices if x in containingObsVertices]
deleteList = []
for line in subConvexPathList:
chk_cross = 0
for obs in containingObs:
if subConvexPathList[line].crosses(obs):
chk_cross = 1
if chk_cross == 1:
deleteList.append(line)
for line in deleteList:
del subConvexPathList[line]
#subConvexPathList.remove(line)
pairList = []
for i in range(len(subVertices)):
for j in range(i+1, len(subVertices)):
pairList.append((subVertices[i], subVertices[j]))
for i in pairList:
Line = LineString(i)
chk_cross = 0
for obs in containingObs:
if Line.crosses(obs):
chk_cross = 1
elif Line.within(obs):
chk_cross = 1
if chk_cross == 0:
subConvexPathList[i] = Line
#subConvexPathList.append(i)
buffer_st_line = split_line.buffer(0.1)
deleteList = []
for line in subConvexPathList:
if buffer_st_line.contains(subConvexPathList[line]):
deleteList.append(line)
for line in deleteList:
if subConvexPathList.has_key(line):
del subConvexPathList[line]
#subConvexPathList = [x for x in subConvexPathList if x not in deleteList]
for line in subConvexPathList:
if not totalConvexPathList.has_key(line):
if not totalConvexPathList.has_key((line[1],line[0])):
totalConvexPathList[line] = subConvexPathList[line] #if line not in totalConvexPathList:
#if [line[1], line[0]] not in totalConvexPathList:
#totalConvexPathList.append(line)
#w = shapefile.Writer(shapefile.POLYLINE)
#w.field('nem')
#for line in totalConvexPathList:
#w.line(parts=[[ list(x) for x in line ]])
#w.record('ff')
#w.save(self.path + "graph2_" + str(idx_loop1) + self.version_name)
t7e = time.time()
time_loop1_crossingDict += t7e - t7s
#new lines
labeled_multyPoly = MultiPolygon([x for x in labeledObstaclePoly])
convexHull = self.createConvexhull(labeled_multyPoly, odPointsList)
self.splitBoundary(totalConvexPathList, convexHull)
#new lines end
#impededPathList
t5s = time.time()
impededPathList = {}
for line in totalConvexPathList:
for obs in labeledObstaclePoly:
if totalConvexPathList[line].crosses(obs):
impededPathList[line] = totalConvexPathList[line]
break
t5e = time.time()
time_impedingArcs += t5e - t5s
for line in impededPathList:
del totalConvexPathList[line]
terminate2 = 0
idx_loop2 = 0
t1e = time.time()
time_loop1 += t1e - t1s
#w = shapefile.Writer(shapefile.POLYGON)
#w.field('net')
#for obs in labeledObstaclePoly:
#w.poly(parts=[[list(x) for x in list(obs.exterior.coords)]])
#w.record('ff')
#w.save(self.path + "obs"+ str(idx_loop1) + "_" + self.version_name)
while terminate2 == 0:
idx_loop2 += 1
deleteList = []
crossingDict = defaultdict(list)
for line in dealtArcList:
if impededPathList.has_key(line):
del impededPathList[line]
elif impededPathList.has_key((line[1], line[0])):
del impededPathList[(line[1],line[0])]
t3s = time.time()
#pr.enable()
for line in impededPathList:
for obs in labeledObstaclePoly:
if impededPathList[line].crosses(obs):
crossingDict[line].append(obs)
t3e = time.time()
time_crossingDict += t3e - t3s
#at this point, impededArcList should be emptied, as it only contains crossing arcs, and all of them
#should be replaced by convex hulls.
for line in crossingDict:
del impededPathList[line]
for line in impededPathList:
if not totalConvexPathList.has_key(line):
totalConvexPathList[line] = impededPathList[line]
impededPathList = {}
if len(crossingDict.keys()) == 0:
terminate2 = 1
continue
else:
#w = shapefile.Writer(shapefile.POLYLINE)
#w.field('nem')
#for line in crossingDict:
#w.line(parts=[[ list(x) for x in line ]])
#w.record('ff')
#w.save(self.path + "crossingDict_" + str(idx_loop1) + "_"+ str(idx_loop2) +"_"+ self.version_name)
t4s = time.time()
for tLine in crossingDict.keys():
dealtArcList[tLine] = crossingDict[tLine]
containingObs = []
for obs in crossingDict[tLine]:
chk_contain = 0
convexHull2 = self.createConvexhull(obs)
if convexHull2.contains(Point(tLine[0])):
containingObs.append(obs)
chk_contain = 1
elif convexHull2.contains(Point(tLine[1])):
containingObs.append(obs)
chk_contain = 1
if chk_contain == 0:
t10s = time.time()
convexHull = self.createConvexhull(obs, tLine)
self.splitBoundary(impededPathList, convexHull)
t10e = time.time()
time_buildConvexHulls += t10e - t10s
if len(containingObs) != 0: #SPLIT
#print "SPLIT"
t2s = time.time()
subConvexPathList = {}
vi_obs = MultiPolygon([x for x in containingObs])
containedLineCoords = tLine
fromX = containedLineCoords[0][0]
fromY = containedLineCoords[0][1]
toX = containedLineCoords[1][0]
toY = containedLineCoords[1][1]
fxA = (fromY - toY) / (fromX - toX)
fxB = fromY - (fxA * fromX)
minX = vi_obs.bounds[0]
maxX = vi_obs.bounds[2]
split_line = LineString([(min(minX, fromX, toX), fxA * min(minX, fromX, toX) + fxB), (max(maxX, fromX, toX), fxA * max(maxX, fromX, toX) + fxB)])
for obs in containingObs:
s1, s2 = self.splitPolygon(split_line, obs)
dividedObsPoly = []
#to deal with multipolygon
a = s1.intersection(obs)
b = s2.intersection(obs)
if a.type == "Polygon":
dividedObsPoly.append(a)
else:
for o in a.geoms:
if o.type == "Polygon":
dividedObsPoly.append(o)
if b.type == "Polygon":
dividedObsPoly.append(b)
else:
for o2 in b.geoms:
if o2.type == "Polygon":
dividedObsPoly.append(o2)
for obs2 in dividedObsPoly:
for pt in tLine:
convexHull = self.createConvexhull(obs2, [pt])
self.splitBoundary(subConvexPathList, convexHull)
subVertices = []
for line in subConvexPathList:
subVertices.extend(line)
subVertices = list(set(subVertices))
containingObsVertices = []
for obs in containingObs:
containingObsVertices.extend(list(obs.exterior.coords))
subVertices = [x for x in subVertices if x in containingObsVertices]
deleteList = []
for line in subConvexPathList:
chk_cross = 0
for obs in containingObs:
if subConvexPathList[line].crosses(obs):
chk_cross = 1
if chk_cross == 1:
deleteList.append(line)
for line in deleteList:
del subConvexPathList[line]
pairList = []
for i in range(len(subVertices)):
for j in range(i+1, len(subVertices)):
pairList.append((subVertices[i], subVertices[j]))
for i in pairList:
Line = LineString(list(i))
chk_cross = 0
for obs in containingObs:
if Line.crosses(obs):
chk_cross = 1
elif Line.within(obs):
chk_cross = 1
if chk_cross == 0:
subConvexPathList[i] = Line
buffer_st_line = split_line.buffer(0.1)
deleteList = []
for line in subConvexPathList:
if buffer_st_line.contains(subConvexPathList[line]):
deleteList.append(line)
for line in deleteList:
del subConvexPathList[line]
for line in subConvexPathList:
if not impededPathList.has_key(line):
if not impededPathList.has_key((line[1], line[0])):
impededPathList[line] = subConvexPathList[line]
t2e = time.time()
time_contain2 += t2e - t2s
#pr.disable()
for line in dealtArcList:
if impededPathList.has_key(line):
del impededPathList[line]
#impededPathList = [x for x in impededPathList if x not in dealtArcList]
t4e = time.time()
time_convexLoop += t4e - t4s
#end of else
#w = shapefile.Writer(shapefile.POLYLINE)
#w.field('nem')
#for line in impededPathList:
#w.line(parts=[[ list(x) for x in line ]])
#w.record('ff')
#w.save(self.path + "After_graph_" + str(idx_loop1) + "_"+ str(idx_loop2) +"_"+ self.version_name)
#end of while2
for line in impededPathList:
if not totalConvexPathList.has_key(line):
totalConvexPathList[line] = impededPathList[line]
#totalConvexPathList.extend(impededPathList)
totalGraph = self.createGraph(totalConvexPathList.keys())
esp_n = networkx.dijkstra_path(totalGraph, odPointsList[0], odPointsList[1])
esp = []
for i in range(len(esp_n)-1):
esp.append([esp_n[i], esp_n[i+1]])
w = shapefile.Writer(shapefile.POLYLINE)
w.field('nem')
no_edges = 0
for line in totalConvexPathList.keys():
no_edges += 1
w.line(parts=[[ list(x) for x in line ]])
w.record('ff')
w.save(self.path + "totalpath" + self.version_name + "%d" % pair[1] )
w = shapefile.Writer(shapefile.POLYLINE)
w.field('nem')
#calculate ESP distance
ESP_dist = 0
for line in esp:
segment = LineString(line)
ESP_dist += segment.length
ESP_dist = ESP_dist * 0.000189393939
#category a: less than 5 mi
#b: 5~10 mi
#c: 10 ~
for line in esp:
w.line(parts=[[ list(x) for x in line ]])
w.record('ff')
if ESP_dist <= 3.33:
w.save(self.path + "a_ESP_" + self.version_name + "%d" % pair[1])
elif ESP_dist > 3.33: #and ESP_dist <= 10.005
w.save(self.path + "b_ESP_" + self.version_name + "%d" % pair[1])
#else:
#w.save(self.path + "c_ESP_" + self.version_name + "%d" % pair[1])
#sp_len_str = str(sp_l_set)[1:-1]
#s = StringIO.StringIO()
#sortby = 'cumulative'
#ps = pstats.Stats(pr, stream=s).sort_stats(sortby)
#ps.print_stats()
#print s.getvalue()
#
# s = StringIO.StringIO()
# sortby = 'cumulative'
# ps = pstats.Stats(pr2, stream=s).sort_stats(sortby)
# ps.print_stats()
# print s.getvalue()
print "loop1: ", time_loop1
print "Spatial Filtering: ", time_spatialFiltering
print "loop1 crossingDict: ", time_loop1_crossingDict
print "crossingDict: ", time_crossingDict
print 'convexLoop: ', time_convexLoop
print "time_contain: ", time_contain2
print "impedingArcs: ", time_impedingArcs
print "convexHUll: ", time_buildConvexHulls
return 'convexpath %d %d %d %f %f %f' % (pair[1], no_edges, len(labeledObstaclePoly), time_convexLoop, time_crossingDict, time_buildConvexHulls)
print 'line2', line2 print 'line2 type', line2.geom_type print 'line2 coordinates:', line2.coords[:] print 'line2 length:', line2.length, '== sqrt(2)/2', line2.length==sqrt(2)/2 print '' line3 = LineString([(0,0),(-1,1)]) print 'line3', line3 print 'line3 type', line3.geom_type print 'line3 coordinates:', line3.coords[:] print 'line3 length:', line3.length, '== sqrt(2)', line3.length==sqrt(2) print '' print 'line1-line2' ipt = line1.intersection(line2) print 'ipt', ipt print 'touches:', line1.touches(line2) print 'crosses:', line1.crosses(line2) print '' print 'line1-line3' ipt = line1.intersection(line3) print 'ipt', ipt print 'touches:', line1.touches(line3) print 'crosses:', line1.crosses(line3)
