def get_heatmap_from_distances_all_predictors(predictions, entry_line, exit_line, half_angle_vec):
# Set up the RBF Interpolator
way_line, line_distances = set_up_way_line_and_distances(entry_line, exit_line)
rbfLineDist = []
rbfMeasureDist = []
for pred in predictions:
rbfLineDist.extend(line_distances)
rbfMeasureDist.extend(pred)
rbfi = RBFValley(rbfLineDist, rbfMeasureDist, 0.5)
# Set up the grid to sample the RBF at
line_dist_min = -INT_DIST
line_dist_max = INT_DIST
line_dist_resolution = 100
measure_dist_min = -10.
measure_dist_max = 10.
measure_dist_resolution = 60
LineDists = np.rot90(np.tile(np.linspace(line_dist_min, line_dist_max, line_dist_resolution), (measure_dist_resolution, 1)))
MeasureDists = np.tile(np.linspace(measure_dist_min, measure_dist_max, measure_dist_resolution), (line_dist_resolution, 1))
D = np.zeros((np.shape(LineDists)[0]-1, np.shape(MeasureDists)[1]-1))
# Sample the RBF
for j in range(np.shape(LineDists)[0]-1):
for k in range(np.shape(LineDists)[1]-1):
D[j,k] = rbfi(LineDists[j,k], MeasureDists[j,k])
# Transform RBF grid into XY-Space for heatmap
X, Y = get_cartesian_from_distances(LineDists, MeasureDists, way_line, half_angle_vec)
return X, Y, D
def plot_sample_intersection_curvature(samples, title="Sample curvature over intersection coordinates", ax=None, color=None):
"""Plot each sample's curvature relative to the intersection distances coordinate system"""
print "Curvature calculation..."
sample_steps = 100
curvatures = np.zeros((len(samples), sample_steps))
line_dists = np.array(curvatures)
for i, s in enumerate(samples):
track_line = s['geometry']['track_line']
entry_line = s['geometry']['entry_line']
exit_line = s['geometry']['exit_line']
try:
half_angle_vec = extract_features.get_half_angle_vec(exit_line, s['X'][_feature_types.index('intersection_angle')])
# Limit path to a set s_di interval at intersection
# _, track_line = split_path_at_line_dist(track_line, entry_line, half_angle_vec, entry_line.length-36.0)
# track_line, _ = split_path_at_line_dist(track_line, exit_line, half_angle_vec, 36.0)
curvature_sample_coords = [track_line.interpolate(dist).coords[0] for dist in np.linspace(0, track_line.length, sample_steps)]
X, Y = zip(*curvature_sample_coords)
way_line, dists = extract_features.set_up_way_line_and_distances(entry_line, exit_line)
way_line = extract_features.extend_line(way_line, 1000.0, direction="both") # Make sure the way_line is not too short to cover the whole track
LineDistances, _ = extract_features.get_distances_from_cartesian(X, Y, way_line, half_angle_vec)
line_dists[i] = LineDistances - 1000.0 - INT_DIST # Shift to the actual coordinate system
curvatures[i] = extract_features.get_line_curvature(track_line, sample_steps)
except extract_features.NoIntersectionError as e:
#plot_helper.plot_intersection(s, additional_lines=[way_line])
print e
continue
# fig = plt.figure()
# sns.plt.hold(True)
for i in range(curvatures.shape[0]):
handle, = ax.plot(line_dists[i], np.degrees(curvatures[i]), color=color, linestyle='-')
return handle # Only need one
